System and method for correcting position information of surrounding vehicle

ABSTRACT

The present invention relates to a system and a method for correcting position information of a surrounding vehicle, which provide accurate position information of a surrounding vehicle by correcting the position information of the surrounding vehicle received through vehicle-to-vehicle communication, and identifies a license-plate number of a front vehicle through a sensor mounted in a vehicle, calculates a position of the front vehicle, and compare position information, which is included in information including the identified number of the front vehicle in information received from the surrounding vehicle, with the calculated position of the front vehicle to correct the position information of the surrounding vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

Notice: More than one reissue application has been filed for a reissueof U.S. Pat. No. 9,836,961. The reissue applications are Reissueapplication Ser. No. 16/540,257 filed on Aug. 14, 2019, now U.S. ReissuePat. No. RE48,288 issued on Oct. 27, 2020; Continuation Reissueapplication Ser. Nos. 16/716,787 and 16/716,840 both filed on Dec. 17,2019; and Continuation Reissue application Ser. Nos. 17/021,271,17/021,405, 17/021,695, 17/021,867, and 17/021,915 (the presentcontinuation reissue application) all filed on Sep. 15, 2020. Reissueapplication Ser. No. 16/540,257 is for a reissue of U.S. Pat. No.9,836,961. Continuation Reissue application Ser. Nos. 16/716,787,16/716,840, 17/021,271, 17/021,405, 17/021,695, 17/021,867, and17/021,915 are all continuation reissue applications of Reissueapplication Ser. No. 16/540,257, and are all for a reissue of U.S. Pat.No. 9,836,961.

This reissue application is a continuation reissue application ofReissue application Ser. No. 16/540,257 filed on Aug. 14, 2019, now U.S.Reissue Pat. No. RE48,288 issued on Oct. 27, 2020, which is for areissue of U.S. Pat. No. 9,836,961 issued on Dec. 5, 2017, fromapplication Ser. No. 14/811,156 filed on Jul. 28, 2015, and claimspriority under 35 U.S.C. §119 to Korean Patent Application No.10-2014-0156134, filed on Nov. 11, 2014, in the Korean IntellectualProperty Office, the disclosure disclosures of which is are incorporatedherein by reference in its entirety their entireties. This reissueapplication is also for a reissue of U.S. Pat. No. 9,836,961.

TECHNICAL FIELD

The present invention relates to a system and a method for providingposition information of vehicles travelling around a travelling vehicle,and particularly, to a system and a method for correcting an error ofposition information of vehicles travelling in a surrounding area, andproviding attenuation of surrounding vehicles based on the correctedposition information.

BACKGROUND

An advanced driver assistance system (ADAS) is a system assistingdriving based on information obtained through a sensor or communicationfor safety and convenience for a driver, and an autonomous emergencybraking (AEB) system, a forward collision warning (FCW) system, and thelike are present as systems for preventing a collision with a vehicletravelling at a front side.

The AEB system or the FCW system may provide safe driving servicesaccording to information obtained through a sensor, or give a warning toa driver or self-control a vehicle based on information, such asdeceleration or emergency braking of a vehicle travelling at a frontside, in information received from surrounding vehicles throughvehicle-to-vehicle (V2V) communication, thereby reducing risk of anaccident.

In this case, when the AEB system or the FCW system provides safedriving services based on the information received through the V2Vcommunication, it is necessary to identify whether the receivedinformation is information of the vehicle travelling at the front side,so that the information received from the vehicle travelling at thefront side is identified based on position information received fromsurrounding vehicles and information of a road which the vehicle travelson.

However, the position information received from the surrounding vehiclesis based on a global positioning system (GPS) signal of the surroundingvehicles, and when an error is generated in the GPS signal, there is aproblem in that incorrect position information of the surroundingvehicles may be received.

SUMMARY

The present invention has been made in an effort to provide a system anda method of correcting position information of a surrounding vehicle,which are capable of obtaining information of a front vehicle through asensor, identifying the information of the front vehicle in informationreceived from a surrounding vehicle, and comparing a position of thefront vehicle obtained through the sensor and position information ofthe front vehicle received through vehicle-to-vehicle communication,thereby accurately correcting position information received from thesurrounding vehicle.

An exemplary embodiment of the present invention provides a system forcorrecting position information of a surrounding vehicle, the systemincluding: a front vehicle information obtaining unit configured toobtain a license-plate number of a front vehicle, which is travelling ata front side, measure a distance to the front vehicle, and calculate aposition of the front vehicle; a surrounding vehicle informationreceiving unit configured to receive a number and position informationof a surrounding vehicle, which is travelling in a surrounding area; aposition information correcting unit configured to search for alicense-plate number a surrounding vehicle corresponding to thelicense-plate number of the front vehicle, which is travelling at thefront side, among the license-plate numbers of the surrounding vehiclesreceived by the surrounding vehicle information receiving unit, compareposition information of a surrounding vehicle, which transmits thesearched number of the surrounding vehicle, with a position of the frontvehicle, which is travelling at the front side, and correct the positioninformation of the surrounding vehicle, which is travelling in thesurrounding area, according to a result of the comparison; and a displayunit configured to display a position of the surrounding vehicle, whichis travelling in the surrounding area, according to the positioninformation corrected by the position information correcting unit.

The position information correcting unit may calculate a correctionvalue based on a difference between the position information of thesurrounding vehicle, which transmits the searched number of thesurrounding vehicle, and the position of the front vehicle, which istravelling at the front side, and correct the position information ofthe surrounding vehicle, which is received by the surrounding vehicleinformation receiving unit, according to the calculated correctionvalue.

The position information correcting unit may generate a travel map ofthe surrounding vehicle, which is travelling in the surrounding area,according to the corrected position information.

When the position information of the surrounding vehicle, whichtransmits the searched number of the surrounding vehicle, is within apredetermined range from the position of the front vehicle, which istravelling at the front side, the position information correcting unitmay generate a travel map of the surrounding vehicle, which istravelling in the surrounding area, according to the positioninformation of the surrounding vehicle received by the surroundingvehicle information receiving unit.

The front vehicle information obtaining unit may calculate a position ofthe front vehicle, which is travelling at the front side, by using themeasured distance to the front vehicle, information of a road, which thevehicle is travelling on, and a current position of the vehicle.

In this case, the information of the road may include total lanes and acurvature of the road which the vehicle is travelling on.

The front vehicle information obtaining unit may calculate a relativeposition of the front vehicle with respect to the current position ofthe vehicle by using the measured distance to the front vehicle, andwhen a road, which the vehicle is travelling on, is a curved road, thefront vehicle information obtaining unit may calculate a relativeposition of the front vehicle with respect to the current position ofthe vehicle by using the measured distance to the front vehicle and adirection of the front vehicle.

The front vehicle information obtaining unit may obtain thelicense-plate number of the front vehicle, which is travelling at thefront side, through a camera sensor, and measure a distance to the fromvehicle through a radar or a laser scanner.

Another exemplary embodiment of the present invention provides a methodfor correcting position information of a surrounding vehicle, the methodincluding: obtaining a license-plate number of a front travellingvehicle, and calculating a position of the front travelling vehicle;receiving a number and position information of a surrounding vehicle,which is travelling in a surrounding area; searching for a surroundingvehicle having a number corresponding to the license-plate number of thefront travelling vehicle among the received numbers of surroundingvehicles; and correcting position information of the searchedsurrounding vehicle according to a position of the front travellingvehicle.

According to the present invention, it is possible to prevent a positionof a vehicle from being inaccurately recognized due to an error of a GPSsignal, and correct even position information of a vehicle, which isbeing travelling in an area, which is not detected by the sensor, bycorrecting position information of a surrounding vehicle receivedthrough the V2V communication based on information of a front vehicleobtained through the sensor.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B are diagrams illustrating an example of a case where acorrection of position information is demanded by a system forcorrecting position information of a surrounding vehicle according to anexemplary embodiment of the present invention.

FIG. 2 is a block diagram illustrating a structure of the system forcorrecting position information of a surrounding vehicle according tothe exemplary embodiment of the present invention.

FIG. 3 is a flowchart illustrating a process of a method of correctingposition information of a surrounding vehicle according to anotherexemplary embodiment of the present invention.

DETAILED DESCRIPTION OF EMBODIMENTS

Various advantages and features of the present invention and methodsaccomplishing thereof will become apparent from the following detaileddescription of exemplary embodiments with reference to the accompanyingdrawings. However, the present invention is not limited to exemplaryembodiments disclosed herein, but will be implemented in various forms.The exemplary embodiments are provided so that the present invention iscompletely disclosed, and a person of ordinary skill in the art canfully understand the scope of the present invention, and the presentinvention will be defined by the scope of the appended claims.

Meanwhile, terms used in the present specification are to explainexemplary embodiments rather than limiting the present invention. Unlessparticularly stated otherwise in the present specification, a singularform also includes a plural form. The meaning of “comprises” and/or“comprising” used in this specification does not exclude the existenceor addition of one or more other constituent elements, steps,operations, and/or devices in addition to aforementioned constituentelements, steps, operations, and/or device. Hereinafter, exemplaryembodiments of the present invention will be described in detail withreference to the accompanying drawings.

FIGS. 1A and 1B are diagrams illustrating an example of a case whereincorrect position information is received from a surrounding vehicle,and FIG. 1A illustrates actual travelling positions of a vehicle and asurrounding (front) vehicle, and FIG. 1B illustrates a case where aposition of a surrounding vehicle is recognized based on a globalpositioning system (GPS) signal received from the surrounding vehicle,and an incorrect position is recognized due to an error of the GPSsignal.

That is, actually, the vehicle is travelling in a state illustrated inFIG. 1A, but the vehicle recognizes a travelling situation as atravelling situation illustrated in FIG. 1B due to an error of a GPSsignal received from a surrounding vehicle, and even though emergencybraking information is received from the surrounding vehicle, thesurrounding vehicle is not recognized as a front vehicle travelling onthe same lane, so that there is a problem in that an advanced driverassistance system (ADAS) is not operated. A system for correctingposition information of a surrounding vehicle according to an exemplaryembodiment of the present invention is to solve the aforementionedproblem, and hereinafter, a system and a method for correcting positioninformation of a surrounding vehicle according to an exemplaryembodiment of the present invention will be described with reference toFIGS. 2 and 3 .

FIG. 2 illustrates a structure of a system for correcting positioninformation of a surrounding vehicle according to an exemplaryembodiment of the present invention.

A system 100 for correcting position information of a surroundingvehicle according to an exemplary embodiment of the present inventionincludes a float vehicle information obtaining unit 101, a surroundingvehicle information receiving unit 102, a position informationcorrecting unit 130 103, and a display unit 104.

The front vehicle information obtaining unit 101 obtains a license-platenumber of a vehicle travelling at a front side of the vehicle, measuresa distance to the front vehicle, and calculates a position of the frontvehicle based on the measured distance.

The front vehicle information obtaining unit 101 processes an imagephotographed through a camera 110 mounted in the vehicle, and identifiesthe license-plate number of the front vehicle. That is, the frontvehicle information obtaining unit 101 obtains the license-plate numberof the front vehicle and uses the obtained number of the front vehiclefor identifying information received from the vehicle travelling at thefront side among information received from surrounding vehicles.

The front vehicle information obtaining unit 101 measures a distance tothe front vehicle through a radar 120 or a laser scanner 130 mounted inthe vehicle.

The front vehicle information obtaining unit 101 may calculate aposition of the front vehicle by using the distance to the front vehiclemeasured through the radar 120 or the laser scanner 130, a currentposition of the vehicle calculated based on a signal of a GPS 140, andinformation of a road, which the vehicle is travelling on, obtained froma road map DB 150. In this case, the road map DB 150 providesinformation, such as the total lanes ad and a curvature of the road,which the vehicle is travelling on.

Otherwise, the front vehicle information obtaining unit 101 maycalculate a relative position (for example, 00 m in an X-axis and 00 min a Y-axis) of the front vehicle with respect to the current positionof the vehicle by using the distance to the front vehicle, and calculateat relative position of the front vehicle by using a distance to thefront vehicle and a direction of the front vehicle while the vehicletravels a curved road.

The front vehicle information obtaining unit 101 transmits the obtainednumber of the front vehicle and the calculated position of the frontvehicle to the position information correcting unit 103.

The surrounding vehicle information receiving unit 102 receivestravelling information of a surrounding vehicle from the surroundingvehicles, which are travelling in an area, in which the surroundingvehicles may be communicated with the vehicle through V2V communication,and the travelling information includes a license-plate number of thesurrounding vehicle and position information of the surrounding vehicle.

The surrounding vehicle information receiving unit 102 transmits thereceived number and position information of the surrounding vehicle tothe position information correcting unit 103.

The position information correcting unit 103 compares the information ofthe front vehicle received from the front vehicle information obtainingunit 101 and the information of the surrounding vehicle received fromthe surrounding vehicle information receiving unit 102, corrects theposition information of the surrounding vehicle, and generates a travelmap of the surrounding vehicle according to the corrected positioninformation.

The position information correcting unit 103 searches for information ofthe surrounding vehicle including the same license-plate number as thelicense-plate number of the front vehicle in the information of thesurrounding vehicle received from the surrounding vehicle informationreceiving unit 102.

When the information of the surrounding vehicle including the samelicense-plate number as the license-plate number of the front vehicle isconfirmed, the position information correcting unit 103 may recognizethat the confirmed information of the surrounding vehicle is theinformation transmitted by the vehicle actually travelling at the frontside, so that the position information correcting unit 103 compares theposition information received from the corresponding surrounding vehiclewith the position of the front vehicle received from the front vehicleinformation obtaining unit 101.

When the position information received from the surrounding vehicle,which is recognized as the front vehicle, is the same as the position ofthe front vehicle calculated by the front vehicle information obtainingunit 101 or is within a predetermined range from the position of thefront vehicle, the position information received from the surroundingvehicle may be considered as accurate information having no error, sothat the position information correcting unit 103 generates the travelmap of the surrounding vehicle, which is travelling around the vehicle,according to the position information received from the surroundingvehicle.

When a distance between the position information received from thesurrounding vehicle and the position calculated by the front vehicleinformation obtaining unit 101 is out of a predetermined range, theposition information correcting unit 103 may recognize that the positioninformation from the surrounding vehicle is inaccurate information dueto an error of the GPS.

Accordingly, the position information correcting unit 103 calculates acorrection value according to the difference between the positioninformation received from the surrounding vehicle and the positioncalculated by the front vehicle information obtaining unit 101, andcorrects the position information received from the surrounding vehicleaccording to the calculated correction value.

In this case, the position information correcting unit 103 may correctonly the position information received from the surrounding vehicle,which is recognized as the front vehicle, according to the calculatedcorrection value, but may also correct position information of all ofthe surrounding vehicles received by the surrounding vehicle informationvehicles receiving unit 102 according to the calculated correctionvalue.

The position information correcting unit 103 may generate a travel mapof the surrounding vehicle, which is travelling around the vehicle,based on the corrected position information, and display the generatedtravel map through a display unit 104, thereby providing a driver withaccurate position information of the surrounding vehicle which istravelling in a surrounding area.

The position information correcting unit 103 transmits the correctedposition information of the surrounding vehicle or the generated travelmap to a driving assist system 200 to enable the driving assist system200 to use the corrected position information of the surrounding vehicleor the generated travel map for identifying the information of the frontvehicle.

Accordingly, according to the present invention, the positioninformation, which is received from the surrounding vehicle recognizedas the front vehicle in the position information of the surroundingvehicles received through the V2V communication is compared with theposition of the front vehicle calculated based on the informationobtained through the sensor and corrected, so that even through theposition information received through the V2V communication has anerror, it is possible to provide a driver or the driving assist system200 with accurate position information.

FIG. 3 is a flowchart illustrating a process of a method of correctingposition information of a surrounding vehicle according to anotherexemplary embodiment of the present invention.

The system for correcting position information of a surrounding vehicleaccording to the exemplary embodiment of the present invention maycompare position information of a surrounding vehicle received from thesurrounding vehicle and information of a front vehicle obtained throughthe sensor and correct the position information of the surroundingvehicle to provide accurate position information of the surroundingvehicle.

The system for correcting position information of a surrounding vehiclerecognizes a license-plate number of a vehicle, which is travelling at afront side, through a camera mounted in the vehicle (S300), and measuresa distance to the front vehicle using a radar, and the like (S310).Further, the system for correcting position information of a surroundingvehicle calculates a position of the front vehicle based on a distanceto the front vehicle and a current position of the vehicle andinformation of a road which the vehicle travels on (S320).

That is, the present invention may correct even position information ofvehicles travelling in an area, which is not detected by the sensor, bydetermining accuracy of the position information received through theV2V communication based on the information of the front vehicle.

The system for correcting position information of a surrounding vehicleobtains the information of the front vehicle, and receives travelinformation including a number and position information of thesurrounding vehicle from the surrounding vehicle (S330).

The system for correcting position information of a surrounding vehiclesearches for information including the same license-plate number as thelicense-plate number of the front vehicle in the information receivedfrom the surrounding vehicle (S340).

When the information including the same license-plate number as thelicense-plate number of the front vehicle is identified in theinformation received from the surrounding vehicle, the system forcorrecting position information of a surrounding vehicle may recognizethat the identified surrounding vehicle is the vehicle travelling at thefront side, so that the system for correcting position information of asurrounding vehicle compares the position information of the identifiedsurrounding vehicle with the obtained position of the front vehicleobtained through the sensor (S350).

When the position information of the identified surrounding vehicle isthe same as the position of the front vehicle obtained through thesensor, or a difference between the position information of theidentified surrounding vehicle and the position of the front vehicleobtained through the sensor is within a predetermined range (S360), theposition information received from the surrounding vehicle may bedetermined as information having no error, so that the system forcorrecting position information of a surrounding vehicle provides thereceived position information to the driving assist system or generatesa travel map of the surrounding vehicle based on the received positioninformation (S390).

When the difference between the position information of the identifiedsurrounding vehicle and the position of the front vehicle obtainedthrough the sensor is out of the predetermined range (S360), theposition information received from the surrounding vehicle may beconsidered as inaccurate information due to an error of GPS information,so that the system for correcting position information of a surroundingvehicle calculates a correction value based on the difference betweenthe received position information and the position of the front vehicle(S374).

The system for correcting position information of a surrounding vehiclecorrects the received position information according to the calculatedcorrection value (S380). In this case, the system for correctingposition information of a surrounding vehicle may also correct positioninformation of a surrounding vehicle, which is travelling in an areathat is communication available with a vehicle, but is not detected bythe sensor, by correcting all of the received position information ofthe surrounding vehicles according to the calculated correction value.

Accordingly, according to the present invention, it is possible toprovide a driver with accurate position information of a surroundingvehicle by correcting an error of position information received from thesurrounding vehicle, and provide accurate driving assist servicesaccording to a travel situation of a front vehicle by enabling thedriving assist system to accurately identify information of a frontvehicle received through the V2V communication.

Although an exemplary embodiment of the present invention has beendescribed for illustrative purposes, those skilled in the art willappreciate that various modifications and changes are possible, withoutdeparting from the scope and spirit of the invention. Accordingly, theexemplary embodiments disclosed in the present invention are notintended to limit but illustrate the technical spirit of the presentinvention, and the scope of the technical spirit of the presentinvention is not limited by the exemplary embodiments. The protectionscope of the present invention should be construed based on thefollowing appended claims and it should be interpreted that all thetechnical spirit included within the scope identical or equivalent tothe claims belongs to the scope of the present invention.

What is claimed is:
 1. An apparatus in a first vehicle to correctposition information of a surrounding vehicle, the surrounding vehiclebeing located in a surrounding area of the first vehicle, the apparatuscomprising: a front vehicle location unit configured to obtain alicense-plate number of a second vehicle that is travelling in front ofthe first vehicle, measure a distance from the first vehicle to thesecond vehicle, and calculate a position of the second vehicle; asurrounding vehicle information receiving unit configured to receivelicense-plate numbers and position information of one or moresurrounding vehicles that are travelling in the surrounding area of thefirst vehicle; a position information correcting unit configured tosearch for the license-plate number of the second vehicle among thelicense-plate numbers of the one or more surrounding vehicles receivedby the surrounding vehicle information receiving unit, compare thecalculated position information of the second vehicle among the positioninformation of the one or more surrounding vehicles with a receivedposition information of the second vehicle received from the surroundingvehicle information receiving unit, correct the received positioninformation of the second vehicle according to a result of thecomparing, and transmit the corrected position information to a drivingassist system to prevent a collision between the first vehicle and thesecond vehicle, wherein the collision between the first vehicle and thesecond vehicle is prevented by an autonomous emergency braking system.2. The apparatus of claim 1, wherein the position information correctingunit is further configured to calculate a correction value based on adifference between the received position information of the secondvehicle and the calculated position of the second vehicle, and tocorrect the received position information of the second vehicleaccording to the calculated correction value.
 3. The apparatus of claim2, further comprising a display, wherein the position informationcorrecting unit is further configured to generate a travel map of thesecond vehicle according to the corrected position information, and todisplay the generated travel map on the display.
 4. The apparatus ofclaim 1, wherein, the position information correcting unit is furtherconfigured to generate a travel map of the second vehicle according tothe received position information of the second vehicle when thereceived position information of the second vehicle is within a rangefrom the calculated position of the second vehicle.
 5. The apparatus ofclaim 1, wherein the front vehicle location unit is further configuredto calculate the calculated position of the second vehicle using themeasured distance to the second vehicle, information of a road on whichthe first vehicle is travelling, and a current position of the firstvehicle.
 6. The apparatus of claim 5, wherein the information of theroad comprises total lanes and a curvature of the road on which thefirst vehicle is travelling.
 7. The apparatus of claim 6, wherein thefront vehicle location unit is further configured to calculate arelative position of the second vehicle with respect to the currentposition of the first vehicle using the measured distance to the secondvehicle, and in response to the road on which the first vehicle istravelling being a curved road, to calculate a relative position of thesecond vehicle with respect to the current position of the first vehicleusing the measured distance to the second vehicle and a direction of thesecond vehicle.
 8. The apparatus of claim 1, wherein the front vehiclelocation unit is further configured to obtain the license-plate numberof the second vehicle through a camera, and to measure the distance tothe second vehicle through a radar or a laser scanner.
 9. The apparatusof claim 1, further comprising: a display unit configured to display aposition of the second vehicle according to the position informationwhich is corrected by the position information correcting unit.
 10. Amethod to correct position information of a surrounding vehicle, themethod comprising: obtaining, by a camera, a license-plate number of afront travelling vehicle, and determining, by a measurement device, acalculated position of the front travelling vehicle; receiving alicense-plate number and position information of one or more surroundingvehicles that are travelling in a surrounding area; searching for asurrounding vehicle comprising a license-plate number corresponding tothe license-plate number of the front travelling vehicle among thereceived license-plate numbers of surrounding vehicles to determine amatching surrounding vehicle; correcting received position informationof the matching surrounding vehicle according to the calculated positionof the front travelling vehicle; and transmitting the corrected positioninformation to a driving assist system to prevent a collision with thesurrounding vehicle, wherein the collision with the surrounding vehicleis prevented by an autonomous emergency braking system.
 11. The methodof claim 10, wherein the determining of the position of the fronttravelling vehicle comprises measuring a distance to the fronttravelling vehicle, and calculating the position of the front travellingvehicle using the measured distance, information of a road on which thefirst vehicle is travelling, and a current position of the firstvehicle.
 12. The method of claim 11, wherein the determining of theposition of the front travelling vehicle comprises calculating arelative position of the front travelling vehicle with respect to thecurrent position of the first vehicle using the measured distance to thefront travelling vehicle, and when a road on which the first vehicle istravelling is a curved road, calculating a relative position of thefront travelling vehicle with respect to the current position of thefirst vehicle using the measured distance to the front travellingvehicle and a direction of the front travelling vehicle.
 13. The methodof claim 10, wherein the correcting of the received position informationof the matching surrounding vehicle according to the position of thefront travelling vehicle comprises: calculating a correction valueaccording to a difference between the received position information ofthe matching surrounding vehicle and the calculated position of thefront travelling vehicle; and correcting the received positioninformation of the matching surrounding vehicle according to thecalculated correction value.
 14. The method of claim 10, wherein thecorrecting of the received position information of the matchingsurrounding vehicle according to the calculated position of the fronttravelling vehicle comprises generating a travel map of the matchingsurrounding vehicle according to the received position information ofthe matching surrounding vehicle when the received position informationof the matching surrounding vehicle is within a range from thecalculated position of the front travelling vehicle.
 15. The method ofclaim 11, wherein the measuring of the distance to the front travellingvehicle comprises measuring by either one of a radar device and a laserdevice.
 16. The apparatus of claim 1, wherein the collision between thefirst vehicle and the second vehicle is further prevented by a forwardcollision warning system.
 17. The method of claim 10, wherein thecollision with the surrounding vehicle is further prevented by a forwardcollision warning system.
 18. An apparatus in a first vehicle to correctposition information of a surrounding vehicle, the surrounding vehiclebeing located in a surrounding area of the first vehicle, the apparatuscomprising: a front vehicle location unit comprising one or moreprocessors configured to: obtain identifier information of a secondvehicle that is visible from the first vehicle and is travelling infront of the first vehicle, measure a distance from the first vehicle tothe second vehicle, and determine a position of the second vehicle usingthe measured distance from the first vehicle to the second vehicle; asurrounding vehicle information receiver configured to receiveidentifier information and position information of one or moresurrounding vehicles that are travelling in the surrounding area of thefirst vehicle; and a position information correcting unit comprising oneor more processors configured to: identify the identifier information ofthe second vehicle among the identifier information of the one or moresurrounding vehicles received by the surrounding vehicle informationreceiver, compare received position information of the second vehicleamong the position information of the one or more surrounding vehiclesreceived by the surrounding vehicle information receiver with thedetermined position of the second vehicle, and generate a travel map ofthe second vehicle using the received position information of the secondvehicle in response to the received position information of the secondvehicle being within a predetermined range from the determined positionof the second vehicle.
 19. The apparatus of claim 18, wherein theposition information correcting unit comprising one or more processorsis further configured to: determine a correction value based on adifference between the received position information of the secondvehicle and the determined position of the second vehicle, correct thereceived position information of the second vehicle according to thedetermined correction value, and generate the travel map of the secondvehicle using the corrected position information of the second vehicle,in response to the received position information of the second vehiclebeing out of the predetermined range from the determined position of thesecond vehicle.
 20. The apparatus of claim 19, wherein the positioninformation correcting unit comprising one or more processors is furtherconfigured to: correct the received position information of the one ormore surrounding vehicles according to the determined correction value.21. The apparatus of claim 18, wherein the front vehicle location unitis further configured to measure the distance from the first vehicle tothe second vehicle through a radar or a laser scanner.
 22. The apparatusof claim 18, wherein the position information correcting unit is furtherconfigured to transmit the generated travel map of the second vehicle toa driving assist system to prevent a collision between the first vehicleand the second vehicle, and the collision between the first vehicle andthe second vehicle is prevented by an autonomous emergency brakingsystem.
 23. A method performed in a first vehicle to correct positioninformation of a surrounding vehicle located in a surrounding area ofthe first vehicle, the method comprising: obtaining, by a sensor,identifier information of a front travelling vehicle that is visiblefrom the first vehicle and is travelling in front of the first vehiclein the surrounding area; determining, by a measurement device, aposition of the front travelling vehicle; receiving identifierinformation and position information of one or more surrounding vehiclesthat are travelling in the surrounding area; identifying a surroundingvehicle comprising identifier information corresponding to theidentifier information of the front travelling vehicle among thereceived identifier information of the one or more surrounding vehiclesas being a matching surrounding vehicle corresponding to the fronttravelling vehicle; and generating a travel map of the matchingsurrounding vehicle using the received position information of thematching surrounding vehicle in response to the received positioninformation of the matching surrounding vehicle being within apredetermined range from the determined position of the front travellingvehicle.
 24. The method of claim 23, further comprising: determining acorrection value based on a difference between the received positioninformation of the matching surrounding vehicle and the determinedposition of the front travelling vehicle, correcting the receivedposition information of the matching surrounding vehicle according tothe determined correction value, and generating the travel map of thematching surrounding vehicle using the corrected position information ofthe matching surrounding vehicle, in response to the received positioninformation of the matching surrounding vehicle being out of thepredetermined range from the determined position of the front travellingvehicle.
 25. The method of claim 23, wherein the determining, by themeasurement device, of the position of the front travelling vehiclecomprises: measuring a distance from the first vehicle to the fronttravelling vehicle through a radar or a laser scanner; and determiningthe position of the front travelling vehicle using the measured distancefrom the first vehicle to the front travelling vehicle.
 26. The methodof claim 23, wherein the receiving of the identifier information and theposition information comprises receiving the identifier information andthe position information from the one or more surrounding vehicles viavehicle-to-vehicle (V2V) communication, and the correcting of thereceived position information comprises correcting the received positioninformation of the one or more surrounding vehicles received via thevehicle-to-vehicle (V2V) communication according to the determinedcorrection value.
 27. The method of claim 23, wherein the obtaining, bythe sensor, of the identifier information of the front travellingvehicle, the determining, by the measurement device, of the position ofthe front travelling vehicle, the receiving of the identifierinformation and the position information of the one or more surroundingvehicles, the identifying of the surrounding vehicle, and the generatingof the travel map of the matching surrounding vehicle are collectivelyperformed in sufficient time to enable a driving assist system toprevent a collision between the first vehicle and the matchingsurrounding vehicle based on the generated travel map of the matchingsurrounding vehicle.
 28. The method of claim 23, further comprisingtransmitting the generated travel map of the matching surroundingvehicle to a driving assist system to prevent a collision between thefirst vehicle and the matching surrounding vehicle, wherein thecollision between the first vehicle and the matching surrounding vehicleis prevented by an autonomous emergency braking system.